CN219747998U - Magic cube solving robot - Google Patents
Magic cube solving robot Download PDFInfo
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- CN219747998U CN219747998U CN202223555398.4U CN202223555398U CN219747998U CN 219747998 U CN219747998 U CN 219747998U CN 202223555398 U CN202223555398 U CN 202223555398U CN 219747998 U CN219747998 U CN 219747998U
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- magic cube
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- arm
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- 239000012636 effector Substances 0.000 claims abstract description 16
- 230000017525 heat dissipation Effects 0.000 claims abstract description 14
- DIYWRNLYKJKHAM-MDOVXXIYSA-N (-)-cubebin Chemical compound C1=C2OCOC2=CC(C[C@@H]2[C@@H](CC=3C=C4OCOC4=CC=3)CO[C@@H]2O)=C1 DIYWRNLYKJKHAM-MDOVXXIYSA-N 0.000 claims description 10
- XUEHVOLRMXNRKQ-KHMAMNHCSA-N alpha cubebene Natural products CC(C)[C@@H]([C@H]12)CC[C@@H](C)[C@]32[C@@H]1C(C)=CC3 XUEHVOLRMXNRKQ-KHMAMNHCSA-N 0.000 claims description 10
- 238000007493 shaping process Methods 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 3
- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 description 4
- 239000003086 colorant Substances 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000001816 cooling Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001502 supplementing effect Effects 0.000 description 1
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Abstract
The utility model discloses a magic cube solving robot which comprises a working arm and a working mechanism arranged in the working arm, wherein the working mechanism comprises a working assembly, a rotating assembly and a clamping assembly; the work assembly comprises a heat dissipation ring, a connecting piece, a direct current servo motor, a connecting column, a collecting ring, a clamping plate and a clamping frame, wherein the heat dissipation ring is fixedly connected to the outer wall of the work arm, one end of the work arm is fixedly connected with the connecting piece, the magic cube solving robot is compared with the existing common magic cube robot, a telescopic sliding block slides to drive a rotating plate to rotate through a rotating guide groove, the rotating plate rotates to drive an end effector to be attached to the outer wall of the magic cube main body through the clamping arm, clamping operation on the magic cube main body is achieved, then the direct current servo motor works to drive the connecting column to rotate through the collecting ring, and the connecting column rotates to drive the magic cube main body on the outer wall of the clamping frame to rotate synchronously, so that all faces of the magic cube main body rotate to the same color, and quick restoration operation on the magic cube main body is achieved.
Description
Technical Field
The utility model relates to the technical field of magic cube solving, in particular to a magic cube solving robot.
Background
The magic cube is an important educational toy, and is paid attention to by social magic cube lovers and scientific researchers in recent years, however, the traditional magic cubes are manually disturbed and manually restored, the steps of solving and turning the magic cube manually are numerous, the difficulty is great, and thus the development of a robot for solving the magic cube is gradually gaining social importance. The magic square robot is a robot integrating technology and interests, and can greatly excite people to be interested in science.
The utility model discloses a magic cube solving robot, which is disclosed in the application number CN 212372190U. The magic cube solving robot comprises a first mechanical arm mechanism, a second mechanical arm mechanism, a turntable position detection sensor, a cooling fan, a board card, a magic cube limiting turntable, a camera mounting mechanism, a camera, a light supplementing lamp, a wireless communication module, a magic cube limiting turntable motor and a coupler. According to the utility model, the efficiency of learning the magic cube by a beginner is improved by assisting the beginner in learning the magic cube-solving robot, but the magic cube-solving robot is not popularized, and the magic cube-solving robot on the market has the advantages of slower magic cube-solving speed, low safety protection performance and no better interactivity.
In view of the above, a magic cube solving robot has been proposed to solve the problems of the prior art.
Disclosure of Invention
The utility model aims to provide a magic cube solving robot which solves the problems of slower magic cube solving speed and low safety protection performance in the background technology.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the magic cube solving robot comprises a working arm and a working mechanism arranged in the working arm, wherein the working mechanism comprises a working assembly, a rotating assembly and a clamping assembly;
the working assembly comprises a heat dissipation ring, a connecting piece, a direct current servo motor, a connecting column, a collecting ring, a clamping plate and a clamping frame, wherein the heat dissipation ring is fixedly connected to the outer wall of the working arm, one end of the working arm is fixedly connected with the connecting piece, the direct current servo motor is arranged in the working arm, the outer wall of the connecting piece is positioned in the working arm, the connecting column is installed at the output end of the direct current servo motor, the collecting ring fixedly connected with the inner wall of the working arm is arranged on the outer wall of the connecting column in a rotating mode, the connecting column is fixedly connected with the outer wall of the collecting ring, the clamping plate is fixedly connected to the outer wall of the connecting column, and the clamping frame is embedded outside the outer end of the clamping plate extending to the working arm;
the rotary assembly comprises a pneumatic push rod, a telescopic slide block, a rotary plate and a rotary guide groove, wherein the pneumatic push rod is fixedly connected to the inner wall of the clamping frame, the telescopic slide block is fixedly connected to the output end of the pneumatic push rod, the rotary plate is movably connected to the outer wall of the telescopic slide block, and the rotary guide groove is formed in the connecting position of the rotary plate and the telescopic slide block;
the clamping assembly comprises a clamping arm, an end effector and a magic cube main body, wherein one end of the rotating plate is fixedly connected with the clamping arm, one end of the clamping arm is fixedly connected with the end effector, and the magic cube main body is attached to the outer wall of the end effector.
Preferably, one end fixedly connected with linking arm of connecting piece, the one end fixedly connected with control module of linking arm, control module's bottom fixedly connected with base, one side fixedly connected with wide angle industrial camera that the top of base is located control module, the top of base is located the below fixedly connected with removal jacking frame of magic cube main part, the top fixedly connected with guide rail of removal jacking frame, the top sliding connection of sliding connection has the guide rail has the magic cube storehouse, the top fixedly connected with plastic storehouse in magic cube storehouse, one side in plastic storehouse is located the top fixedly connected with control host computer of removal jacking frame, the output of control host computer is located the below fixedly connected with jacking support of magic cube main part, the outer wall of base is provided with the display screen.
Preferably, the heat dissipation rings are equidistantly distributed along the outer wall of the working arm.
Preferably, the connecting column forms a rotating structure through the direct current servo motor and the collecting ring, and a coupling is arranged at the connecting part of the direct current servo motor and the connecting column.
Preferably, the connecting column forms a detachable structure with the clamping frame through the clamping plate.
Preferably, the rotating plate forms a rotating structure through the telescopic sliding block, the rotating guide groove and the clamping frame, and the end effector forms a clamping structure through the clamping arm and the magic cube main body.
Preferably, the shaping bin forms a sliding structure with the guide rail through the magic cube bin, and the jacking bracket forms a jacking structure with the movable jacking frame through the control host.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the utility model, the guide rail and the magic cube bin are arranged, the magic cube main body is placed in the shaping bin at the top end of the magic cube bin by a user, then the user pushes the magic cube bin, so that the magic cube bin slides to drive the magic cube main body in the shaping bin to slide along the outer wall of the guide rail, the magic cube main body slides to the jacking bracket, then the control host works to drive the magic cube main body at the top end of the jacking bracket to be jacked to one side of the working arm, and the protection operation of moving and jacking the magic cube main body is realized;
2. according to the magic cube main body quick restoration device, the tail end executor is arranged, the pneumatic push rod works to drive the telescopic slide block to slide along the inner wall of the clamping frame, the telescopic slide block slides to drive the rotary plate to rotate through the rotary guide groove, the rotary plate rotates to drive the tail end executor to be attached to the outer wall of the magic cube main body through the clamping arm, so that the clamping operation of the magic cube main body is realized, then the direct current servo motor works to drive the connecting column to rotate through the current collecting ring, the connecting column rotates to drive the magic cube main body on the outer wall of the clamping frame to synchronously rotate through the clamping plate, and all sides of the magic cube main body are rotated to the same color, so that the quick restoration operation of the magic cube main body is realized.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic view of a working arm structure according to the present utility model;
FIG. 3 is a schematic view of the internal structure of the working arm of the present utility model;
FIG. 4 is a schematic view of a clamping frame structure according to the present utility model;
fig. 5 is a schematic view of a mobile jack-up frame structure according to the present utility model.
In the figure: 1. a working arm; 2. a heat dissipation ring; 3. a connecting piece; 4. a direct current servo motor; 5. a connecting column; 6. a collecting ring; 7. a clamping plate; 8. a clamping frame; 9. a pneumatic push rod; 10. a telescopic slide block; 11. a rotating plate; 12. a rotary guide groove; 13. a clamping arm; 14. an end effector; 15. a magic cube main body; 16. a connecting arm; 17. a control module; 18. a base; 19. wide-angle industrial cameras; 20. moving the jacking frame; 21. a guide rail; 22. a magic cube bin; 23. shaping bin; 24. a control host; 25. jacking the bracket; 26. and a display screen.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Example 1
As shown in fig. 1 to 4, a magic cube solving robot in the drawings comprises a working arm 1 and a working mechanism arranged inside the working arm 1, wherein the working mechanism comprises a working assembly, a rotating assembly and a clamping assembly;
the working assembly comprises a heat dissipation ring 2, a connecting piece 3, a direct current servo motor 4, a connecting column 5, a collecting ring 6, a clamping plate 7 and a clamping frame 8, wherein the heat dissipation ring 2 is fixedly connected to the outer wall of the working arm 1, one end of the working arm 1 is fixedly connected with the connecting piece 3, the direct current servo motor 4 is arranged in the working arm 1 on the outer wall of the connecting piece 3, the connecting column 5 is installed at the output end of the direct current servo motor 4, the collecting ring 6 fixedly connected with the inner wall of the working arm 1 is arranged on the outer wall of the connecting column 5 in a rotating mode, the connecting column 5 is fixedly connected with the outer wall of the collecting ring 6, the clamping plate 7 is fixedly connected to the outer wall of the connecting column 5, and the clamping frame 8 is embedded outside the working arm 1, and extends to the outer end of the clamping plate 7;
the rotary assembly comprises a pneumatic push rod 9, a telescopic slide block 10, a rotary plate 11 and a rotary guide groove 12, wherein the inner wall of the clamping frame 8 is fixedly connected with the pneumatic push rod 9, the output end of the pneumatic push rod 9 is fixedly connected with the telescopic slide block 10, the outer wall of the telescopic slide block 10 is movably connected with the rotary plate 11, and the rotary guide groove 12 is formed in the connecting part of the rotary plate 11 and the telescopic slide block 10;
the clamping assembly comprises a clamping arm 13, an end effector 14 and a magic cube main body 15, one end of the rotating plate 11 is fixedly connected with the clamping arm 13, one end of the clamping arm 13 is fixedly connected with the end effector 14, and the magic cube main body 15 is attached to the outer wall of the end effector 14.
As shown in fig. 2, the heat dissipation rings 2 are equidistantly distributed along the outer wall of the working arm 1, which is beneficial to realizing rapid heat dissipation operation of the working arm 1 by arranging the heat dissipation rings 2.
As shown in fig. 3, the connection post 5 forms a rotating structure between the direct current servo motor 4 and the collecting ring 6, and a coupling is arranged at the connection position of the direct current servo motor 4 and the connection post 5, so that the direct current servo motor 4 works to drive the connection post 5 to rotate through the collecting ring 6, and the stable rotation control operation of the connection post 5 is realized.
Wherein, as shown in fig. 3, the connecting column 5 forms a detachable structure with the clamping frame 8 through the clamping plate 7, which is favorable for the connecting column 5 to rotate and drive the magic cube main body 15 of the outer wall of the clamping frame 8 to synchronously rotate through the clamping plate 7, thereby realizing the control operation on the rotation of the magic cube main body 15.
As shown in fig. 4, the rotating plate 11 forms a rotating structure with the clamping frame 8 through the telescopic sliding block 10 and the rotating guide slot 12, the end effector 14 forms a clamping structure with the magic cube main body 15 through the clamping arm 13, which is beneficial to the pneumatic push rod 9 to work to drive the telescopic sliding block 10 to slide along the inner wall of the clamping frame 8, the telescopic sliding block 10 slides to drive the rotating plate 11 to rotate through the rotating guide slot 12, and the rotating plate 11 rotates to drive the end effector 14 to be attached to the outer wall of the magic cube main body 15 through the clamping arm 13, so as to realize the clamping operation of the magic cube main body 15.
Example 2
As shown in fig. 1 and 5, this embodiment further illustrates embodiment 1, one end fixedly connected with linking arm 16 of connecting piece 3, one end fixedly connected with control module 17 of linking arm 16, the bottom fixedly connected with base 18 of control module 17, the top of base 18 is located one side fixedly connected with wide-angle industrial camera 19 of control module 17, the top of base 18 is located the below fixedly connected with removal jack-up frame 20 of magic cube main part 15, the top fixedly connected with guide rail 21 of removal jack-up frame 20, the top sliding connection who has guide rail 21 has magic cube storehouse 22, the top fixedly connected with plastic storehouse 23 of magic cube storehouse 22, one side of plastic storehouse 23 is located the top fixedly connected with control host 24 of removal jack-up frame 20, the output of control host 24 is located the below fixedly connected with jack-up support 25 of magic cube main part 15, the outer wall of base 18 is provided with display screen 26, be favorable to the user to place magic cube main part 15 in the plastic storehouse 23 on the top of magic cube storehouse 22, then the user promotes magic cube storehouse 22 in order to make magic cube storehouse 22 slide drive the inside magic cube main part 21 along guide rail 21, the top of magic cube main part 15, carry out the image acquisition to the inside of the control host computer main part 15, the control host computer 25 is carried out to the control host computer 15, the control host computer 25 is located to the top of the inside of the control host computer 15, the control host computer is carried out, the control host computer is controlled to the operation is controlled to the jack-up the control host computer 15, the top is controlled to carry out, the image acquisition of the working picture is carried out, and the control device is controlled by the host 1, the working mode is controlled by the host is controlled, and is shown in the mode.
As shown in fig. 5, the shaping cabin 23 forms a sliding structure with the guide rail 21 through the cube cabin 22, the jacking bracket 25 forms a jacking structure with the movable jacking frame 20 through the control host 24, which is beneficial for a user to place the cube main body 15 in the shaping cabin 23 at the top end of the cube cabin 22, and then the user pushes the cube cabin 22, so that the cube cabin 22 slides to drive the cube main body 15 in the shaping cabin 23 to slide along the outer wall of the guide rail 21, slide the cube main body 15 onto the jacking bracket 25, and then the control host 24 works to drive the cube main body 15 at the top end of the jacking bracket 25 to jack up to one side of the working arm 1, thereby realizing the protection operation of the movable jacking of the cube main body 15.
Working principle: when the magic cube solving robot is used, firstly, a user places the magic cube main body 15 in the shaping bin 23 at the top end of the magic cube bin 22, then the user pushes the magic cube bin 22, so that the magic cube bin 22 slides to drive the magic cube main body 15 in the shaping bin 23 to slide along the outer wall of the guide rail 21, the magic cube main body 15 slides onto the jacking bracket 25, then, the control host 24 works to drive the magic cube main body 15 at the top end of the jacking bracket 25 to jack up to one side of the working arm 1, and the protection operation of moving and jacking the magic cube main body 15 is realized.
Then, the wide-angle industrial camera 19 works to collect images of all the surfaces of the magic cube main body 15, the collected results are transmitted to the control module 17, the control module 17 transmits the magic cube images to the information processor in the control module 17, the information processor identifies the state of the magic cube through the internal images, the images of the six surfaces of the magic cube are processed according to the characteristic information of the six colors of the magic cube, and for each surface, the control module 17 controls the working arm 1 to work inside according to the relative positions of the identified colors.
Finally, in the clamping frame 8, the pneumatic push rod 9 works to drive the telescopic slide block 10 to slide along the inner wall of the clamping frame 8, the telescopic slide block 10 slides to drive the rotary plate 11 to rotate through the rotary guide groove 12, the rotary plate 11 rotates to drive the end effector 14 to be attached to the outer wall of the magic cube main body 15 through the clamping arm 13, clamping operation of the magic cube main body 15 is achieved, then the direct current servo motor 4 works to drive the connecting column 5 to rotate through the collecting ring 6, the connecting column 5 rotates to drive the magic cube main body 15 on the outer wall of the clamping frame 8 to synchronously rotate through the clamping plate 7, all the surfaces of the magic cube main body 15 rotate to the same color, and recovery operation of the magic cube main body 15 is achieved, namely the working principle of the magic cube solving robot.
The embodiments of the utility model have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the utility model in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments were chosen and described in order to best explain the principles of the utility model and the practical application, and to enable others of ordinary skill in the art to understand the utility model for various embodiments with various modifications as are suited to the particular use contemplated.
Claims (7)
1. The utility model provides a magic cube solving robot, includes work arm (1) and sets up the operating mechanism in work arm (1) inside, its characterized in that: the working mechanism comprises a working assembly, a rotating assembly and a clamping assembly;
the work assembly comprises a heat dissipation ring (2), a connecting piece (3), a direct current servo motor (4), a connecting column (5), a collecting ring (6), a clamping plate (7) and a clamping frame (8), wherein the heat dissipation ring (2) is fixedly connected to the outer wall of the work arm (1), one end of the work arm (1) is fixedly connected with the connecting piece (3), the direct current servo motor (4) is arranged in the work arm (1) and is positioned on the outer wall of the connecting piece (3), the connecting column (5) is arranged at the output end of the direct current servo motor (4), the collecting ring (6) fixedly connected with the inner wall of the work arm (1) is arranged on the outer wall of the connecting column (5) in a rotating mode, the connecting column (5) is fixedly connected to the outer wall of the collecting ring (6), the clamping plate (7) is fixedly connected to the outer wall of the connecting column (5), and one end of the clamping plate (7) extends to the outer portion of the work arm (1) to be embedded with the clamping frame (8);
the rotary assembly comprises a pneumatic push rod (9), a telescopic slide block (10), a rotary plate (11) and a rotary guide groove (12), wherein the pneumatic push rod (9) is fixedly connected to the inner wall of the clamping frame (8), the telescopic slide block (10) is fixedly connected to the output end of the pneumatic push rod (9), the rotary plate (11) is movably connected to the outer wall of the telescopic slide block (10), and the rotary guide groove (12) is formed in the connecting part of the rotary plate (11) and the telescopic slide block (10);
the clamping assembly comprises a clamping arm (13), an end effector (14) and a magic cube main body (15), wherein the clamping arm (13) is fixedly connected to one end of the rotating plate (11), the end effector (14) is fixedly connected to one end of the clamping arm (13), and the magic cube main body (15) is attached to the outer wall of the end effector (14).
2. A magic cube-solving robot according to claim 1, characterized in that: one end fixedly connected with linking arm (16) of connecting piece (3), the one end fixedly connected with control module (17) of linking arm (16), the bottom fixedly connected with base (18) of control module (17), the top of base (18) is located one side fixedly connected with wide angle industrial camera (19) of control module (17), the top of base (18) is located the below fixedly connected with removal jacking frame (20) of magic cube main part (15), the top fixedly connected with guide rail (21) of removal jacking frame (20), the top sliding connection of guide rail (21) has magic cube storehouse (22), the top fixedly connected with plastic storehouse (23) of magic cube storehouse (22), one side of plastic storehouse (23) is located the top fixedly connected with control host computer (24) of removal jacking frame (20), the output of control host computer (24) is located the below fixedly connected with jacking support (25) of magic cube main part (15), the outer wall of base (18) is provided with display screen (26).
3. A magic cube-solving robot according to claim 1, characterized in that: the heat dissipation rings (2) are distributed along the outer wall of the working arm (1) at equal intervals.
4. A magic cube-solving robot according to claim 1, characterized in that: the connecting column (5) forms a rotating structure through the direct current servo motor (4) and the collecting ring (6), and a coupling is arranged at the connecting position of the direct current servo motor (4) and the connecting column (5).
5. A magic cube-solving robot according to claim 1, characterized in that: the connecting column (5) forms a detachable structure with the clamping frame (8) through the clamping plate (7).
6. A magic cube-solving robot according to claim 1, characterized in that: the rotary plate (11) forms a rotary structure with the clamping frame (8) through the telescopic sliding block (10) and the rotary guide groove (12), and the end effector (14) forms a clamping structure with the magic cube main body (15) through the clamping arm (13).
7. A magic cube-solving robot according to claim 2, characterized in that: the shaping bin (23) forms a sliding structure with the guide rail (21) through the magic cube bin (22), and the jacking bracket (25) forms a jacking structure with the movable jacking frame (20) through the control host (24).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223555398.4U CN219747998U (en) | 2022-12-29 | 2022-12-29 | Magic cube solving robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223555398.4U CN219747998U (en) | 2022-12-29 | 2022-12-29 | Magic cube solving robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219747998U true CN219747998U (en) | 2023-09-26 |
Family
ID=88089335
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223555398.4U Active CN219747998U (en) | 2022-12-29 | 2022-12-29 | Magic cube solving robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219747998U (en) |
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2022
- 2022-12-29 CN CN202223555398.4U patent/CN219747998U/en active Active
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